La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

Recent Submissions

  • The ethical issues of social assistive robotics: A critical literature review 

    Pareto Boada, Júlia; Román Maestre, Begoña; Torras, Carme (2021-11)
    Article
    Open Access
    Along with its potential contributions to the practice of care, social assistive robotics raises significant ethical issues. The growing development of this technoscientific field of intelligent robotics has thus triggered ...
  • Understanding event boundaries for egocentric activity recognition from photo-streams 

    Cartas Ayala, Alejandro; Talavera, Estefanía; Radeva, Petia; Dimiccoli, Mariella (Springer Nature, 2021)
    Conference report
    Open Access
    The recognition of human activities captured by a wearable photo-camera is especially suited for understanding the behavior of a person. However, it has received comparatively little attention with respect to activity ...
  • Total estimation from RGB video: on-line camera self-calibration, non-rigid shape and motion 

    Agudo Martínez, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2021)
    Conference report
    Open Access
    In this paper we present a sequential approach to jointly retrieve camera auto-calibration, camera pose and the 3D reconstruction of a non-rigid object from an uncalibrated RGB image sequence, without assuming any prior ...
  • Modeling long-term interactions to enhance action recognition 

    Cartas Ayala, Alejandro; Radeva, Petia; Dimiccoli, Mariella (Institute of Electrical and Electronics Engineers (IEEE), 2021)
    Conference report
    Open Access
    In this paper, we propose a new approach to understand actions in egocentric videos that exploits the semantics of object interactions at both frame and temporal levels. At the frame level, we use a region-based approach ...
  • E-DNAS: Differentiable Neural Architecture Search for Embedded Systems 

    García López, Javier; Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2021)
    Conference report
    Open Access
    Designing optimal and light weight networks to fit in resource-limited platforms like mobiles, DSPs or GPUs is a challenging problem with a wide range of interesting applications, e.g. in embedded systems for autonomous ...
  • Disturbance observer-based LPV feedback control of a N-DoF robotic manipulator including compliance through gain shifting 

    San Miguel Tello, Alberto; Puig Cayuela, Vicenç; Alenyà Ribas, Guillem (2021-10)
    Article
    Open Access
    This paper proposes a control scheme for a -DoF robotic manipulator in a joint-regulation motion problem, dealing with disturbances (as e.g. exogenous forces, unmodelled dynamics) that hinder task fulfilment, and also ...
  • STRIPS action discovery 

    Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (2020)
    Conference report
    Open Access
    The problem of specifying high-level knowledge bases for planning becomes a hard task in realistic environments. This knowledge is usually handcrafted and is hard to keep updated, even for system experts. Recent approaches ...
  • Mobile manipulation hackathon: moving into real world applications 

    Roa Garzón, Máximo Alejandro; Rosell Gratacòs, Jan; Foix Salmerón, Sergi; Pagès, Jordi; Dogar, Mehmet R.; Vivas, Carlos; Morales Escrig, Antonio; Correll, Nikolaus; Gorner, Michael; Memmesheier, Raphael; Ferro, Francesco (2021)
    Article
    Open Access
    The Mobile Manipulation Hackathon was held in late 2018 during the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) to showcase the latest applications of wheeled robotic manipulators. The challenge ...
  • Perception of cloth in assistive robotic manipulation tasks 

    Jimenez Schlegl, Pablo; Torras, Carme (2020-01-01)
    Article
    Open Access
    Assistive robots need to be able to perform a large number of tasks that imply some type of cloth manipulation. These tasks include domestic chores such as laundry handling or bed-making, among others, as well as dressing ...
  • Contextual policy search for micro-data robot motion learning through covariate Gaussian process latent variable models 

    Delgado Guerrero, Juan Antonio; Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference report
    Open Access
    In the next few years, the amount and variety of context-aware robotic manipulator applications is expected to increase significantly, especially in household environments. In such spaces, thanks to programming by ...
  • Leveraging multiple environments for learning and decision making: a dismantling use case 

    Suárez Hernández, Alejandro; Gaugry, Thierry; Segovia Aguas, Javier; Bernardin, Antonin; Torras, Carme; Marchal, Maud; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference report
    Restricted access - publisher's policy
    Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly and potentially destructive robot executions. ...
  • Variable impedance control in cartesian latent space while avoiding obstacles in null space 

    Parent Alonso, David; Colomé Figueras, Adrià; Torras, Carme (2020)
    Conference report
    Open Access
    Human-robot interaction is one of the keys of assistive robots. Robots are expected to be compliant with people but at the same time correctly perform the tasks. In such applications, Cartesian impedance control is preferred ...

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